CN108836765A - Intelligent walking aid device and for control its provide walk help method - Google Patents

Intelligent walking aid device and for control its provide walk help method Download PDF

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Publication number
CN108836765A
CN108836765A CN201810757657.0A CN201810757657A CN108836765A CN 108836765 A CN108836765 A CN 108836765A CN 201810757657 A CN201810757657 A CN 201810757657A CN 108836765 A CN108836765 A CN 108836765A
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CN
China
Prior art keywords
walking aid
aid device
user
control member
force
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Granted
Application number
CN201810757657.0A
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Chinese (zh)
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CN108836765B (en
Inventor
陶春静
樊瑜波
马俪芳
季润
黄剑
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National Research Center for Rehabilitation Technical Aids
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National Research Center for Rehabilitation Technical Aids
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Priority to CN201810757657.0A priority Critical patent/CN108836765B/en
Publication of CN108836765A publication Critical patent/CN108836765A/en
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Publication of CN108836765B publication Critical patent/CN108836765B/en
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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/04—Wheeled walking aids for disabled persons
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H2003/006—Appliances for aiding patients or disabled persons to walk about with forearm rests, i.e. for non-used arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5061—Force sensors

Abstract

A kind of intelligence walking aid device and the method for controlling its offer walk help.The intelligence walking aid device includes apparatus main body and traveling controller, wherein, apparatus main body includes the upper support component and lower support component for being separately positioned on the upper and lower part of intelligent walking aid device, upper support component includes at least one balustrade panel, lower support component includes at least one bottom support frame and the chassis mobile device that is connected at least one bottom support frame, and apparatus main body further includes at least one intermediate support beam being arranged between upper support component and lower support component；Traveling controller is arranged on apparatus main body, and it is configured as obtaining the walking intention that user is manipulated force data caused by intelligent walking aid device and analyzed user based on force data, the setting Running strategy control chassis mobile device for being then intended to according to the walk help control model of intelligent walking aid device based on the walking of user and/or being stored in advance in the controller is moved.

Description

Intelligent walking aid device and for control its provide walk help method
Technical field
The present invention relates to intelligent walking aid devices, more specifically, are related to a kind of walking that can provide auxiliary for user and help The intelligent walking aid device of power and guidance and the method for walk help is provided for controlling it.
Background technique
The patient for causing lower limb impaired due to accident, sick and wounded etc., bed leads to muscular atrophy for a long time in order to prevent, It usually needs constantly to carry out Walking, to achieve the purpose that rehabilitation.In addition, the leg muscle of the elderly is powerless, also usually lead It causes its handicapped or even loss of activity, drastically influences the quality of life of the elderly.So designing one kind can assist The intelligent device that lower limb disorder patient and the elderly walk safely has extensive social demand.
Huge effort has been made in this respect by many personal and mechanisms, but existing relevant device function is all relatively more single One, it can only merely realize the function of auxiliary walking, and intelligence degree is not high, it is difficult to realize the walking power-assisted of user And/or guidance.Moreover, the bad adaptability that robot in the prior art applies walk help, and higher cost.
Therefore, it needs one kind and is able to solve at least one above problem and the higher intelligent walking aid device of cost performance.
Summary of the invention
The present invention provides a kind of intelligent walking aid device, system and provides the method for walk help for controlling it, can fit Answer a variety of application environments.
The first aspect of the present invention provides a kind of intelligent walking aid device, the intelligence walking aid device include apparatus main body and Traveling controller, wherein
Described device main body includes the upper support component for being separately positioned on the upper and lower part of the intelligent walking aid device With lower support component, the upper support component includes at least one balustrade panel, and the lower support component includes at least one A bottom support frame and the chassis mobile device being connected at least one described bottom support frame, described device main body further include At least one intermediate support beam being arranged between the upper support component and the lower support component；
The traveling controller is arranged in described device main body, and is configured as obtaining user's manipulation intelligence Force data caused by walking aid device and the walking intention based on the force data of user analysis user, then according to The walk help control model of intelligent walking aid device is intended to and/or is stored in advance in the traveling controller based on the walking of the user In setting Running strategy control the chassis mobile device and moved.
This patent discloses a kind of intelligent walking aid device, which can assist lower-limb muscular strength to weaken patient's progress It walks power-assisted and guidance, while having the function of to protect the Walking of user and anti-tumble, thus, it is possible to assist user Carry out walking rehabilitation training.In addition, the intelligence walking aid device is capable of the motion state of real-time detection user during walking, The safeguard protection of collaboration auxiliary and anti-tumble is carried out to user according to the current motion state of user.
According to the first aspect of the invention, the first possible embodiment of first aspect is provided, wherein the intelligence The walk help control model of energy walking aid device includes human-computer communion control model and device autonomous control mode, and the intelligence helps Luggage, which is set, to be believed by the laser sensor and/or ultrasonic sensor environment-identification barrier being arranged in described device main body Breath, wherein
It is described if not detecting barrier in scheduled safe range in the human-computer communion control model Traveling controller is configured as being moved according to the walking of the user intention control chassis mobile device, to assist User walks；If detecting barrier, the traveling controller is in the case where the walking for complying with the user is intended to The chassis mobile device avoiding obstacles are guided to be moved, to assist user's avoiding obstacles；
It is described if not detecting barrier in scheduled safe range in described device autonomous control mode Traveling controller is configured as controlling the chassis shifting based on the setting Running strategy being stored in advance in the traveling controller Dynamic device is moved and user is guided to walk；If detecting barrier, the traveling controller comply with it is described The chassis mobile device avoiding obstacles are guided to carry out in the case where setting Running strategy mobile to guide user to avoid Barrier.
It can according to possible second embodiment there is provided first aspect of the first of first aspect or first aspect The embodiment of energy, wherein the intelligence walking aid device further includes at least one Force sensor, at least one power sensing Each of device include at least one control member and at least one described control member direct or indirect connection extremely A few force snesor, at least one described control member are arranged at the upper support component, at least one described power Sensor be configured as sensing when at least one described control member is manipulated by user it is generated at least one direction Pressure value and the force data for generating the user.
According to second of first aspect, possible embodiment there is provided the third possible embodiment party of first aspect Formula, wherein the control member includes at least one of push rod, screw rod and control crank.
According to the third of first aspect, possible embodiment there is provided the 4th kind of possible embodiment party of first aspect Formula, wherein the intelligence walking aid device includes the left and right sides for being separately positioned on the upper support component of the intelligent walking aid device Two Force sensors, each of Force sensor described in two of them respectively include a control member and with At least two force-sensing sensors of the control member direct or indirect connection, each of described at least two force-sensing sensor It is configured as sensing the pressure value when control member connected to it is manipulated by user at least one generated direction, The traveling controller is configured as being worth really based on either sensing to upward pressure respectively from two Force sensors Determine the desired torque of user.
According to the third of first aspect, possible embodiment there is provided the 5th kind of possible embodiment party of first aspect Formula, wherein the intelligence walking aid device includes the left and right sides for being separately positioned on the upper support component of the intelligent walking aid device Two Force sensors, one in Force sensor described in two of them include a control member and with the manipulation At least two force-sensing sensors of component direct or indirect connection, another in two Force sensors includes another Control member and associated torque sensor, the torque sensor be arranged on inside another control member or with this Another control member direct or indirect connection, wherein at least two force-sensing sensor be configured as sensing it is connected to it Pressure value when control member is manipulated by user at least one generated direction, the torque sensor are configured as sensing Control member connected to it generated torque when being manipulated by user.
According to the third of first aspect, possible embodiment there is provided the 6th kind of possible embodiment party of first aspect Formula, wherein the intelligence walking aid device includes the power sensing dress that the upper support component of the intelligent walking aid device is arranged in It sets, which includes a control member and the multi-axis force transducer that is connected with the control member, the multiaxis Force snesor is configured as sensing pressure when control member connected to it is manipulated by user at least one generated direction Force value and/or torque.
According to the 4th of first aspect the kind or the 5th kind, possible embodiment there is provided the 7th kind of possibility of first aspect Embodiment, wherein the intelligent walking aid device include a control member and with the control member direct or indirect connection At least two force-sensing sensors in the case where, control member connected to it connection is provided with below the control member Disk, the control member terminal pad have the first hole being disposed thereon in surface, which is arranged on the manipulation In first hole of component terminal pad, at least two force-sensing sensor is separately positioned on the control member terminal pad Upper surface at least two installation positions in, at least two installation position is evenly spaced in a circumferential direction Around first hole in the control member terminal pad.
According to the 7th of first aspect the kind, possible embodiment there is provided the 8th kind of possible embodiment party of first aspect Formula has the second hole wherein the control member further includes protection cap in the protection cap, the control member can pass through institute It states the second hole in protection cap and is covered on the top of the control member terminal pad, with protection setting in the control member At least two force-sensing sensor in terminal pad.
According to the 8th of first aspect the kind, possible embodiment there is provided the 9th kind of possible embodiment party of first aspect Formula, wherein further include at least two grooves being disposed thereon in surface in the control member terminal pad, described at least two Groove is evenly spaced between at least two installation position, is provided with spiral shell in each of described at least two groove The lower end of spring can be held in place in the groove by nail and the spring being connected with screw, the screw, the spring Upper end the protection cap can be supported when the protection cap is placed to the top of the control member terminal pad, So that there is interval between protection cap and the upper surface of the control member terminal pad.
According to the 6th of first aspect the kind, possible embodiment there is provided the tenth kind of possible embodiment party of first aspect Formula, wherein in the case where the intelligent walking aid device includes multi-axis force transducer, the multi-axis force transducer top and It has been respectively arranged below top mounting disc and lower section mounting disc, there is third hole in the upper surface of the top mounting disc, it is described Control member is arranged in the third hole of at least described top mounting disc.
According to the first of first aspect or first aspect, possible embodiment there is provided the tenth a kind of of first aspect Possible embodiment, wherein at least one described upper support component includes the left and right two for being arranged in device body upper Two balustrade panels of side, positioned at intelligent walking aid device front for connect described two balustrade panels intermediate connecting part and Safety belt between two balustrade panels is set, and the both ends of the safety belt are respectively connected to the rear portion of described two balustrade panels Bottom surface.
According to the tenth of first aspect, a kind of possible embodiment there is provided the 12nd kind of possible realities of first aspect Mode is applied, wherein at least one described lower support component includes two bottom branch for being arranged in the left and right sides of apparatus main body lower part Support, the front of described two bottom support frames are connected to the chassis mobile device, the rear portion difference of described two bottom support frames It is provided with driven wheel.
According to the 12nd of first aspect the kind, possible embodiment there is provided the 13rd kind of possible realities of first aspect Mode is applied, wherein at least one described intermediate support beam includes one or more of Telescopic support and retractable pins, The Telescopic support is arranged between the rear portion of described two balustrade panels and the rear portion of described two bottom support frames, described Retractable pins are arranged between the chassis mobile device and the intermediate connecting part of the described two balustrade panels of connection.
According to the 13rd of first aspect the kind, possible embodiment there is provided the 14th kind of possible realities of first aspect Apply mode, wherein the Telescopic support include at least two telescopic support rods that can be nested together or between At least two fixed links connected by spring.
According to possible the 15th kind embodiment there is provided first aspect of the first of first aspect or first aspect Possible embodiment, wherein the chassis mobile device includes the shell of chassis mobile device, is arranged in the shell Chassis supports plate and installation are connected at least one motor on the chassis supports plate and at least one described motor At least one driving wheel.
According to the 15th of first aspect the kind, possible embodiment there is provided the 16th kind of possible realities of first aspect Mode is applied, wherein the chassis mobile device includes three motors and be connected with each of three motors three All-directional mobile wheel, evenly-spaced three ends for being arranged in the chassis supports plate of three all-directional mobile wheels, institute State that three motors are evenly-spaced to be arranged on the chassis supports plate, to control the chassis mobile device with arbitrary speed It is mobile to any direction.
According to the 16th of first aspect the kind, possible embodiment there is provided the 17th kind of possible realities of first aspect Mode is applied, wherein the all-directional mobile wheel includes any one of Mecanum wheel and omni-directional wheel.
According to the 16th of first aspect the kind, possible embodiment there is provided the 18th kind of possible realities of first aspect Mode is applied, wherein the intelligence walking aid device further includes electric machine controller and power supply, the electric machine controller is arranged on described Above or below chassis supports plate, the electric machine controller is connected to receive from the walking with the traveling controller The instruction of controller, and control according to described instruction at least one described motor with corresponding speed forward or reverse, it is described Power supply is arranged on the interior of shell of the chassis mobile device or outside and is configured for providing for three motors Power supply.
According to the 15th of first aspect the kind, possible embodiment there is provided the 19th kind of possible realities of first aspect Mode is applied, wherein between at least one described motor and at least one driving wheel being connected at least one described motor also It is provided at least one speed reducer, the speed reducer is configured as controlling the velocity of rotation of at least one motor and thus Control the operation of described at least one motor and at least one driving wheel being connected at least one described motor.
The second aspect of the present invention provides a kind of intelligent walking aid device for controlling first aspect as described above and mentions For the method for walk help, wherein the method includes：
The traveling controller obtains force data caused by user's manipulation intelligent walking aid device and based on described The walking of the force data analysis user of user is intended to；
The traveling controller is anticipated according to the walk help control model of the intelligent walking aid device based on the walking of the user The setting Running strategy control chassis mobile device schemed and/or be stored in advance in the traveling controller is moved.
According to second aspect, the first possible embodiment of second aspect is provided, wherein the intelligence walk help dress The walk help control model set includes human-computer communion control model and device autonomous control mode, and the intelligent walking aid device energy Enough laser sensors and/or ultrasonic sensor environment-identification obstacle information by being arranged in described device main body, wherein The method also includes：
It is described if not detecting barrier in scheduled safe range in the human-computer communion control model Traveling controller is intended to the control chassis mobile device according to the walking of the user and moves；If detecting obstacle Object, the traveling controller guide the chassis mobile device to avoid obstacle in the case where the walking for complying with the user is intended to Object is moved；
It is described if not detecting barrier in scheduled safe range in described device autonomous control mode Traveling controller based on the setting Running strategy that is stored in advance in the traveling controller control the chassis mobile device into Row movement；If detecting barrier, described in the traveling controller is guided in the case where complying with the setting Running strategy Chassis mobile device avoiding obstacles are moved.
It can according to possible second embodiment there is provided second aspect of the first of second aspect or second aspect The embodiment of energy, wherein the intelligence walking aid device further includes at least one Force sensor, at least one power sensing Each of device include at least one control member and at least one described control member direct or indirect connection extremely A few force snesor, at least one described control member are arranged at the upper support component, wherein the method is also Including：
It is sensed using at least one described force snesor generated when at least one described control member is manipulated by user Pressure value at least one direction and the force data for generating the user.
According to second of second aspect, possible embodiment there is provided the third possible embodiment party of second aspect Formula, wherein the control member includes at least one of push rod, screw rod and control crank.
According to the third of second aspect, possible embodiment there is provided the 4th kind of possible embodiment party of second aspect Formula, wherein the intelligence walking aid device includes the left and right sides for being separately positioned on the upper support component of the intelligent walking aid device Two Force sensors, each of Force sensor described in two of them respectively include a control member and with At least two force-sensing sensors of the control member direct or indirect connection, wherein the method also includes：
Each of described at least two force-sensing sensor senses the control member connected to it and is manipulated by user When generated at least one direction on pressure value；
The traveling controller is based on either sensing to upward pressure respectively from two Force sensors being worth really Determine the desired torque of user.
According to the third of second aspect, possible embodiment there is provided the 5th kind of possible embodiment party of second aspect Formula, wherein the intelligence walking aid device includes the left and right sides for being separately positioned on the upper support component of the intelligent walking aid device Two Force sensors, one in Force sensor described in two of them include a control member and with the manipulation At least two force-sensing sensors of component direct or indirect connection, another in two Force sensors includes another Control member and associated torque sensor, the torque sensor be arranged on inside another control member or with this Another control member direct or indirect connection, wherein the method also includes：
At least two force-sensing sensor sense when control member connected to it is manipulated by user it is generated at least Pressure value on one direction；
The torque sensor senses generated torque when control member connected to it is manipulated by user.
According to the third of second aspect, possible embodiment there is provided the 6th kind of possible embodiment party of second aspect Formula, wherein the intelligence walking aid device includes the power sensing dress that the upper support component of the intelligent walking aid device is arranged in It sets, which includes a control member and the multi-axis force transducer that is connected with the control member, wherein described Method further includes：
The multi-axis force transducer senses at least one generated side when control member connected to it is manipulated by user The value that upwards pressure and/or torque.
According to the 4th of second aspect the kind or the 5th kind, possible embodiment there is provided the 7th kind of possibility of second aspect Embodiment, wherein the intelligent walking aid device include a control member and with the control member direct or indirect connection At least two force-sensing sensors in the case where, control member connected to it connection is provided with below the control member Disk, the control member terminal pad have the first hole being disposed thereon in surface, which is arranged on the manipulation In first hole of component terminal pad, at least two force-sensing sensor is separately positioned on the control member terminal pad Upper surface at least two installation positions in, at least two installation position is evenly spaced in a circumferential direction Around first hole in the control member terminal pad.
According to the 7th of second aspect the kind, possible embodiment there is provided the 8th kind of possible embodiment party of second aspect Formula has the second hole wherein the control member further includes protection cap in the protection cap, the control member can pass through institute It states the second hole in protection cap and is covered on the top of the control member terminal pad, with protection setting in the control member At least two force-sensing sensor in terminal pad.
According to the 8th of second aspect the kind, possible embodiment there is provided the 9th kind of possible embodiment party of second aspect Formula, wherein further include at least two grooves being disposed thereon in surface in the control member terminal pad, described at least two Groove is evenly spaced between at least two installation position, is provided with spiral shell in each of described at least two groove The lower end of spring can be held in place in the groove by nail and the spring being connected with screw, the screw, the spring Upper end the protection cap can be supported when the protection cap is placed to the top of the control member terminal pad, So that there is interval between protection cap and the upper surface of the control member terminal pad.
According to the 6th of second aspect the kind, possible embodiment there is provided the tenth kind of possible embodiment party of second aspect Formula, wherein in the case where the intelligent walking aid device includes multi-axis force transducer, the multi-axis force transducer top and It has been respectively arranged below top mounting disc and lower section mounting disc, there is third hole in the upper surface of the top mounting disc, it is described Control member is arranged in the third hole of at least described top mounting disc.
According to the first of second aspect or second aspect, possible embodiment there is provided the tenth a kind of of second aspect Possible embodiment, wherein at least one described upper support component includes the left and right two for being arranged in device body upper Two balustrade panels of side, positioned at intelligent walking aid device front for connect described two balustrade panels intermediate connecting part and Safety belt between two balustrade panels is set, and the both ends of the safety belt are respectively connected to the rear portion of described two balustrade panels Bottom surface.
According to the tenth of second aspect, a kind of possible embodiment there is provided the 12nd kind of possible realities of second aspect Mode is applied, wherein at least one described lower support component includes two bottom branch for being arranged in the left and right sides of apparatus main body lower part Support, the front of described two bottom support frames are connected to the chassis mobile device, the rear portion difference of described two bottom support frames It is provided with driven wheel.
According to the 12nd of second aspect the kind, possible embodiment there is provided the 13rd kind of possible realities of second aspect Mode is applied, wherein at least one described intermediate support beam includes one or more of Telescopic support and retractable pins, The Telescopic support is arranged between the rear portion of described two balustrade panels and the rear portion of described two bottom support frames, described Retractable pins are arranged between the chassis mobile device and the intermediate connecting part of the described two balustrade panels of connection.
According to the 13rd of second aspect the kind, possible embodiment there is provided the 14th kind of possible realities of second aspect Apply mode, wherein the Telescopic support include at least two telescopic support rods that can be nested together or between At least two fixed links connected by spring.
According to possible the 15th kind embodiment there is provided second aspect of the first of second aspect or second aspect Possible embodiment, wherein the chassis mobile device includes the shell of chassis mobile device, is arranged in the shell Chassis supports plate and installation are connected at least one motor on the chassis supports plate and at least one described motor At least one driving wheel.
According to the 15th of second aspect the kind, possible embodiment there is provided the 16th kind of possible realities of second aspect Mode is applied, wherein the chassis mobile device includes three motors and be connected with each of three motors three All-directional mobile wheel, evenly-spaced three ends for being arranged in the chassis supports plate of three all-directional mobile wheels, institute State that three motors are evenly-spaced to be arranged on the chassis supports plate, to control the chassis mobile device with arbitrary speed It is mobile to any direction.
According to the 16th of second aspect the kind, possible embodiment there is provided the 17th kind of possible realities of second aspect Mode is applied, wherein the all-directional mobile wheel includes any one of Mecanum wheel and omni-directional wheel.
According to the 16th of second aspect the kind, possible embodiment there is provided the 18th kind of possible realities of second aspect Mode is applied, wherein the intelligence walking aid device further includes electric machine controller and power supply, the electric machine controller is arranged on described Above or below chassis supports plate, the electric machine controller is connected to receive from the walking with the traveling controller The instruction of controller, and control according to described instruction at least one described motor with corresponding speed forward or reverse, it is described Power supply is arranged on the interior of shell of the chassis mobile device or outside and is configured for providing for three motors Power supply.
According to the 15th of second aspect the kind, possible embodiment there is provided the 19th kind of possible realities of second aspect Mode is applied, wherein between at least one described motor and at least one driving wheel being connected at least one described motor also It is provided at least one speed reducer, the method also includes：
Using the speed reducer control at least one motor velocity of rotation and thus control it is described at least one The operation of motor and at least one driving wheel being connected at least one described motor.
The third aspect of the present invention provides a kind of intelligent walking aid device, which is characterized in that the intelligence walking aid device packet The computer program that includes memory, processor and storage on a memory and can run on a processor, the processing Device can be realized the function of the traveling controller in the described in any item methods of second aspect when executing the computer program.
The fourth aspect of the present invention provides a kind of computer storage medium, wherein the computer storage medium stores There is computer program, the computer program can be realized the walking in the described in any item methods of second aspect when executed The function of controller.
The intelligent walking aid device and provide the method for walk help for controlling intelligent walking aid device that embodiment of the present invention provides, By using the control member being arranged in main body and the Force sensor being connected with control member, a variety of answer can adapt to With environment, the walk help control cost and complexity of intelligent walking aid device are greatly reduced, the reliable of walk help control is effectively increased Property and stability.To keep the above objects, features and advantages of the present invention more than you know, below in conjunction with attached drawing to implementation of the invention Scheme is described in detail.
Detailed description of the invention
The present invention will be described solely by reference to the non-limiting example of attached drawing now, in the accompanying drawings：
Fig. 1 shows the schematic diagram of an embodiment of intelligent walking aid device according to the present invention；
Fig. 2 (a) shows the schematic diagram of an embodiment of the Force sensor in intelligent walking aid device；
Fig. 2 (b) shows the schematic diagram of an embodiment of the protection cap for Force sensor；
Fig. 3 shows the scheme of installation of an embodiment for force-sensing sensor；
Fig. 4 shows the schematic diagram of an embodiment of the Force sensor including torque sensor；
Fig. 5 shows the schematic diagram of an embodiment of the Force sensor including multi-axis force transducer；
Fig. 6 shows the schematic diagram of an embodiment of the shell of the chassis mobile device in intelligent walking aid device；
Fig. 7 (a) shows the vertical view of an embodiment of the internal component of the chassis mobile device in intelligent walking aid device Figure；
Fig. 7 (b) shows looking up for an embodiment of the internal component of the chassis mobile device in intelligent walking aid device Figure.
Fig. 8 shows an embodiment for providing the method for walk help for controlling the intelligent walking aid device.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing to of the invention Specific embodiment is further elaborated.It should be appreciated that the specific embodiments described herein are only used to explain The present invention is not intended to limit the present invention.
In addition, being usually about used directional terminology, such as " preceding " " rear " " left side " " right side " "upper" "lower" herein etc. Refer to user identified orientation using intelligent walking aid device, those skilled in the art are in combination with attached drawing and up and down Text determines these orientation.
Fig. 1 shows the schematic diagram of an embodiment of intelligent walking aid device according to the present invention.
Intelligence walking aid device shown in Fig. 1 (being referred to as " assistant robot ") includes apparatus main body 100 and walking Controller 300.Described device main body 100 generally may include upper, middle and lower three parts, that is, upper support component, intermediate supports Frame and lower support component.The upper support component and lower support component are separately positioned on the upper of the intelligent walking aid device Portion and lower part, the intermediate support beam are arranged between the upper support component and the lower support component.The top Support component includes at least one balustrade panel 7, the lower support component include at least one bottom support frame 10 and with it is described The chassis mobile device 5 that at least one bottom support frame is connected.The traveling controller 300 is arranged on described device main body On 100, and it is configured as obtaining the power number that user manipulates user caused by the intelligent walking aid device by force snesor 2 It is intended to according to and based on the walking of force data analysis user of the user, then according to the walk help control of the intelligent walking aid device The Running strategy control for the setting that molding formula is intended to and/or is stored in advance in the traveling controller based on the walking of the user It makes the chassis mobile device to be moved, so that user be helped to walk.
Preferably, the upper support component may include two of the left and right sides for being arranged in device body upper and help Palm 7, the intermediate connecting part 6 for being used to connect described two balustrade panels positioned at intelligent walking aid device front and setting are two Safety belt 8 between a balustrade panel, the both ends of the safety belt are respectively connected to the bottom table at the rear portion of described two balustrade panels 7 Face.
Preferably, the lower support component may include the two bottoms support for being arranged in the left and right sides of apparatus main body lower part Frame 10 and a chassis mobile device 5, the front of described two bottom support frames 10 is connected to the chassis mobile device 5, described The rear portion of two bottom support frames 10 is respectively arranged with driven wheel 11.The chassis mobile device includes the outer of chassis mobile device Shell, the chassis supports plate being arranged in the shell and installation on the chassis supports plate at least one motor and with institute At least one driving wheel that at least one motor is connected is stated, as being described in detail below with reference to Fig. 7 (a) and Fig. 7 (b).
Preferably, at least one described intermediate support beam may include one in Telescopic support 9 and retractable pins 3 Or it is multiple.The Telescopic support 9 may be disposed at described two balustrade panels 7 rear portion and described two bottom support frames 10 Between rear portion, the retractable pins 3 may be disposed at the chassis mobile device 5 and connect the centre of described two balustrade panels Between connecting component 6.The Telescopic support 9 may include at least two telescopic support rods that can be nested together (as shown in Figure 1) or between at least two fixed links that are connected by spring (not shown).The flexible change of Telescopic support Shape has both sides effect：The dilatation of support frame is conducive to adjust the overall high of intelligent walking aid device according to the height of user Degree, it is ensured that the stable structure of the intelligence walking aid device effectively prevent the left and right of assistant robot in walking aid rehabilitation training process Inclination；When user has left and right directions tumble trend, the reaction force that the dilatation of support frame generates can be to a certain degree The upper tumble trend for helping to prevent user.
As shown in the embodiment of figure 1, one or more Force sensors 2 can be set at upper support component. The Force sensor 2 and traveling controller 300 can rely on balustrade panel 7 or setting and connect described two handrails On the intermediate connecting part 6 of plate.When needed, user can crouch down on balustrade panel 7 and/or intermediate connecting part 6, such as on Limb is supported on the pressure for mitigating leg on balustrade panel 7.In addition, safety belt 8 is also suspended below balustrade panel 7.Once with Family leg weakness is fallen suddenly, and safety belt 8 can hold back and the buttocks of user, for preventing in rehabilitation Walking process The leg weakness that middle user is likely to occur leads to the accident fallen, to guarantee the safety of user.
Advantageously, the intelligent walking aid device also have be capable of obstacle information in environment-identification, be arranged described The laser sensor and/or ultrasonic sensor 4 in the front of apparatus main body, or can be known using known in the art other The sensor of other barrier.The laser sensor and/or ultrasonic sensor 4 can pass through the front obstacle information sensed Serial ports is transferred to traveling controller 300, and the traveling controller 300 according to being in the information judgement front preset range received No there are barriers, and if there is barrier, then the traveling controller 300, which can send instruction to chassis mobile device 5, makes it Stop mobile or gets around barrier.
Preferably, the walk help control model of intelligent walking aid device can be divided into two classes：Human-computer communion control model and dress Set autonomous control mode.
For there is the user of autonomous Training Capability, when user has a mind to carry out autonomous, human-computer communion can be used Control model, it is mobile to assist user to walk that this requires intelligent walking aid device to be intended under security situation according to user, And intelligent walking aid device can environment-identification obstacle information carry out judgement decision.Alternatively, more specifically, in human-computer communion In control model, if not detecting barrier in scheduled safe range, controller can be according to the walking of user It is intended to the control chassis mobile device to be moved, and user is assisted to walk in the intention enterprising every trade in direction；If scheduled Environment Obstacles object information is detected in safe range, then the traveling controller complies with user's in the case where guaranteeing safety Walking is intended to that the chassis mobile device avoiding obstacles is guided to be moved, to guide and assist user's avoiding obstacles.
The weak user of autonomous Training Capability needs extraneous guidance that can just be normally carried out rehabilitation training.Make for this kind of user When carrying out rehabilitation training with intelligent walking aid device, device autonomous control mode can be used, that is, intelligent walking aid device can be according to health The rehabilitation training path of the different complexities of multiple trainer or attending physician's setting and speed carry out motion control, assist and draw It leads user and carries out rehabilitation training walking according to setting Running strategy (for example, fixed route mode or fixed speed mode).Alternatively, More specifically, in device autonomous control mode, if not detecting barrier in scheduled safe range, the row Controller is walked to be configured as controlling the chassis movement based on the setting Running strategy being stored in advance in the traveling controller Device is moved；If detecting barrier, the traveling controller draws in the case where complying with the setting Running strategy It leads the chassis mobile device avoiding obstacles to be moved, to guide and assist user's avoiding obstacles.
Traveling controller 300 of the invention can be with display screen or without the control device of display screen, can To be mounted on intermediate connecting part 6.With display screen, user can be when manipulating the intelligent walking aid device See the display information on traveling controller, the display information may include for navigation environmental map, be stored in advance in The walking of setting Running strategy in the traveling controller, the user analyzed be intended to and/or obstacle information in one Or it is multiple, to facilitate user more intuitively to watch relevant information and carry out more easily manipulation.The traveling controller can be adopted With the form of industrial personal computer, and it is configured to receive the letter of Force sensor and laser sensor and/or ultrasonic sensor It ceases and carries out integrated treatment, chassis mobile device, the chassis mobile device root are then sent for processing result by serial ports Move intelligent walking aid device accordingly according to the instruction that traveling controller issues, in order to assist user to walk.
Fig. 2 (a) shows the schematic diagram of an embodiment of the Force sensor in intelligent walking aid device.
Preferably, the intelligent walking aid device further includes at least one Force sensor, at least one power sensing dress It sets and can be a Force sensor, two, three or more than three identical or different Force sensors, example is as shown in figure 1 Shown in two identical Force sensors 2.
In an embodiment of the Force sensor as shown in Fig. 2 (a), which may include at least one A control member 201 and at least one force snesor of at least one control member direct or indirect connection (for example, 21,22,23 and/or 24).The Force sensor can be arranged on the upper support component (for example, balustrade panel 7 or in Between connecting component 6) at, it is described at least that at least one force snesor for including in the Force sensor can be configured as sensing One control member 201 generated pressure value at least one direction and generates the force data when being manipulated by user. The identical Force sensor 2 of two for including in intelligent walking aid device as shown in Figure 1 can all be as shown in Fig. 2 (a) Force sensor, two Force sensors may be arranged at the left and right sides of traveling controller 300.
In an embodiment of the Force sensor as shown in Fig. 2 (a), the intelligence walking aid device may include one A control member 201 and at least two force-sensing sensors of the control member direct or indirect connection (for example, four quick biographies of power Sensor).Four force-sensing sensors constitute a power sensing recording unit, and the force-sensing sensor can be such as pressure-responsive Device or other known simple, Miniature Sensor for sensing power commonly used in the art.In Fig. 2 (a), label 21- 24 show the installation position of four force-sensing sensors.The lower section of the control member 201 is provided with manipulation connected to it Component terminal pad 202.The control member terminal pad 202 has the first hole being disposed thereon in surface, which can It is arranged in first hole of the control member terminal pad.At least two force-sensing sensor is separately positioned on institute It states at least two installation positions in the upper surface of control member terminal pad, at least two installation position is in circumferencial direction On be evenly spaced on around first hole in the control member terminal pad.
In the embodiment as shown in Fig. 2 (a), the Force sensor includes the manoeuvre portion of a column push rod form Part 201.But as those skilled in the art are readily apparent that after having read this paper, the control member can also use screw rod Or control crank or other it is of various shapes suitable for user manipulation control members, as long as it, which can be realized, makes capable quick sensing Device sense user using walking aid device force data and in turn know user walking be intended to.
It can also include at least two groove (such as Fig. 2 being disposed thereon in surface in the control member terminal pad 202 (a) 25-27 shown in), at least two groove is evenly spaced between at least two installation position.Institute The spring that screw can be set in each of at least two grooves and be connected with screw is stated, the screw can be by spring Lower end is held in place in the groove, and the upper end of the spring is placed to the upper of the control member terminal pad in protection cap The protection cap of control member can be supported when square, so that between protection cap and the upper surface of the control member terminal pad There are intervals.Specifically, when Force sensor is not by thrust, the supporting role of spring makes force-sensing sensor It can not be contacted with push rod, to eliminate the null offset of the gravity bring force-sensing sensor of Force sensor.If user Push rod is pushed, spring is squeezed, and push rod is tilted along user's thrust direction, and the force-sensing sensor in this direction receives push rod Pressure is so as to measure the numerical value of this pressure, once thrust disappears, push rod jack-up can be allowed to restore to the original state by spring again. The pressure value of force-sensing sensor acquisition can be transferred to traveling controller 300 by data collecting card.
Fig. 2 (b) shows the schematic diagram of an embodiment of the protection cap for Force sensor.
As shown in Fig. 2 (b), the Force sensor can also include a protection cap 29, have in the protection cap Second hole, the control member can pass through the second hole in the protection cap and be covered on the control member terminal pad 202 top, with the force-sensing sensor of the protection setting in the control member terminal pad.
Protection cap shown in Fig. 2 (b) is buckled in the top of push rod during installation, plays Beautification design and protection push rod bottom The effect of the force-sensing sensor in portion.It will be noted that being that the left and right two of the Force sensor 2 in Fig. 1 pushes away shown in Fig. 2 (a) One of them of bar.The structure of two push rods in left and right can be identical or different.One pusher structure be connected Such as 4 force-sensing sensors connect can collectively constitute a Force sensor.It include two power in intelligent walking aid device In the case where sensing device, controller can obtain the pressure value of 8 force-sensing sensors acquisition simultaneously, use to comprehensive descision The walking at family is intended to.
Fig. 3 shows the scheme of installation of an embodiment for force-sensing sensor.
Preferably, force-sensing sensor 211 can be a thin slice in itself, the surface of the force-sensing sensor can be by It is silica gel treatment or upper and lower be mounted on silica gel piece to guarantee uniform force.As illustrated in Fig. 3, force-sensing sensor 211 Upper layer silica gel piece 210 can be installed at upper surface, lower layer's silica gel piece can be installed at the lower surface of force-sensing sensor 211 212。
Fig. 4 shows the schematic diagram of an embodiment of the Force sensor including torque sensor.
In one embodiment, the intelligent walking aid device may include being separately positioned on the intelligent walking aid device Two Force sensors of the left and right sides of upper support component, one in Force sensor described in two of them includes One control member and at least two force-sensing sensors with the control member direct or indirect connection, two power sensing dresses Another (as shown in Figure 4) in setting includes another control member and associated torque sensor 203.The torque sensing Device 203 be arranged on inside another control member or with another control member direct or indirect connection, and should Torque sensor 203 is configured as sensing generated torque when control member connected to it is manipulated by user.
Fig. 5 shows the schematic diagram of an embodiment of the Force sensor including multi-axis force transducer.
In one embodiment, the intelligent walking aid device includes the upper support that the intelligent walking aid device is arranged in One Force sensor of component, the Force sensor include a control member and the multiaxis that is connected with the control member Force snesor 205 (as shown in Figure 5).The multi-axis force transducer 205 be configured as sensing control member connected to it by with Pressure value and/or torque of the family when manipulating at least one generated direction.Multi-axis force transducer is able to detect multiple Power in freedom degree direction, the walking that can detect user using triaxial force sensor herein are intended to (or being intended to power).
In the case where the intelligent walking aid device includes multi-axis force transducer 205, in the upper of the multi-axis force transducer Side and lower section can be respectively arranged with top mounting disc 204 and lower section mounting disc 206, have in the upper surface of the top mounting disc There is third hole, the control member is arranged in the third hole of at least described top mounting disc 204.
Fig. 6 shows the schematic diagram of an embodiment of the shell 59 of the chassis mobile device in intelligent walking aid device.Fig. 7 (a) top view of an embodiment of the internal component of the chassis mobile device in intelligent walking aid device is shown.Fig. 7 (b) shows The bottom view of an embodiment of the internal component of the chassis mobile device in intelligent walking aid device out.
Preferably, the chassis mobile device 5 includes the shell 59 of chassis mobile device, is arranged in the shell 59 Chassis supports plate 57 and installation on the chassis supports plate 57 at least one motor and at least one described motor phase At least one driving wheel of connection.The shell 59, which can be, to be made into integration, and the shell is designed to be suitble to receiving The chassis supports plate, motor and associated driving wheel, the specific structure of the shell 59 can according to the chassis supports plate, The shapes and sizes of motor and driving wheel and determine.
In the embodiment shown in Fig. 7 (a) and 7 (b), the chassis mobile device may include three motors 51,52, 53 and three all-directional mobile wheels 54,55,56 being connected with each of three motors.The motor 51,52,53 It can be servo motor, revolving speed is adjustable, and rotation direction can be for forward or reverse.Three all-directional mobile wheels can be equal Even three ends arranged spaced apart in the chassis supports plate 57, three motors are evenly-spaced to be arranged in the chassis In support plate 57 (for example, being spaced apart 120 degree), moved with arbitrary speed to any direction to control the chassis mobile device It is dynamic.For example, the respective one end of three motors can be respectively connected to three all-directional mobile wheels, three motors The respective other end can be arranged in the central hole of the chassis supports plate 57, be respectively connected to electric machine controller.In addition, institute Stating all-directional mobile wheel 54,55,56 can be any one of Mecanum wheel and omni-directional wheel.The machine of the all-directional mobile wheel Many small wheel shafts are installed on wheel, so that all-directional mobile wheel can not only move in the rotation direction of wheel, wheel Axis is also used as driven wheel and moves up in the method for wheel.Three all-directional mobile wheels are installed by the angle of Fig. 7 (a) and 7 (b) Any velocity vector that traveling controller 1 can be calculated is decomposed into the different rotating speeds of three Mecanum wheels, prevents simultaneously The sliding of intelligent walking aid device under static state is stopped.
Preferably, the intelligent walking aid device can also include electric machine controller and power supply.The electric machine controller (does not show It is may be disposed above or below the chassis supports plate out), and may include DSP control panel.The electric machine controller It is connected with the traveling controller to receive the instruction from the traveling controller, and is controlled according to described instruction described At least one motor with corresponding speed forward or reverse.Specifically, the electric machine controller can be according to traveling controller 300 Instruction control servo motor at a predetermined rate forward or reverse, the rotation direction and revolving speed of three servo motors are mutually only It is vertical.The power supply (for example, DC power supply) may be disposed at the interior of shell of the chassis mobile device or outside and be matched It sets for providing power supply for three motors.As an example, the electric machine controller may be mounted at chassis branch The back side of fagging；DC power supply may be mounted at the laser sensor and/or ultrasonic sensor 4 and the chassis mobile device Between 5.
Preferably, at least one described motor and at least one driving wheel being connected at least one described motor it Between be also provided at least one speed reducer (not shown), the speed reducer is configured as controlling at least one motor At least one described motor of velocity of rotation and thus control and at least one being connected at least one described motor are actively The even running of wheel.
In addition, the chassis supports plate 57 of chassis mobile device 5 can be chassis supports made of metal (for example, iron or aluminium) Plate, it firm in structure, it is sufficient to the weight of the entire intelligent walking aid device of support.Chassis mobile device 5 assumes responsibility for user and intelligence Most of weight of walking aid device, bottom support frame 10, which is equipped with driven wheel 11 above, allows intelligent walking aid device that chassis to be followed to move Dynamic device 5 is mobile, the structural strengthening of the stretching, extension stability of intelligent walking aid device.Upper support component and lower support component can To be connected by pin shaft 3 and Telescopic support 9, the length of the elastic and Telescopic support 9 by adjusting pin shaft 3 The height of adjustable intelligence walking aid device, to adapt to the user of different heights.
Preferably, the intelligent walking aid device can also include emergency stop switch 6, and the emergency stop switch 6 can be located at intelligence Full position near the traveling controller 1 of walking aid device, once emergency stop switch can be pressed at once by abnormal conditions user occur Stop the movement of chassis mobile device 5.8 common guarantee of laser sensor and/or ultrasonic sensor 4, emergency stop switch 6 and safety belt Intelligent walking aid device using safe.
Another aspect of the present invention provides a kind of method for controlling the intelligent walking aid device offer walk help.
Fig. 8 shows an embodiment for providing the method for walk help for controlling the intelligent walking aid device, such as institute in Fig. 8 Show, it is described to may include for controlling the method that the intelligent walking aid device provides walk help：
In S110, the traveling controller obtain force data caused by user's manipulation intelligent walking aid device and Walking based on force data analysis user is intended to；
In S210, the traveling controller is based on the user according to the walk help control model of the intelligent walking aid device Walking be intended to and/or the setting Running strategy that is stored in advance in the traveling controller control the chassis mobile device into Row movement.
Specifically, the concrete condition of intelligent walking aid device of the invention is used in conjunction with user, user can stand in place first It stands in two balustrade panels 7 of intelligent walking aid device, stands towards traveling controller 300, then fasten seat belts 8, then beat Traveling controller 300 is opened, Force sensor 2 is held and is operated, then can push intelligent walking aid device, left and right is slow forwards, backwards Go slowly away or carry out turning motion.During traveling, the traveling controller obtains user's manipulation intelligent walk help dress Force data caused by setting and the walking intention based on force data analysis user；The traveling controller is according to the intelligence The walk help control model of energy walking aid device is intended to based on the walking of the user and/or is stored in advance in the traveling controller Setting Running strategy control the chassis mobile device and moved.Moreover, during traveling, laser sensor and/or Ultrasonic sensor 4 can with the barrier on real-time detection periphery, once discovery barrier will stop the movement of intelligent walking aid device.
Preferably, the walk help control model of the intelligent walking aid device includes human-computer communion control model and device from master control Molding formula, and the intelligent walking aid device can be by the laser sensor and/or ultrasound that are arranged in described device main body Sensor environment-identification obstacle information, wherein the method also includes：
It is described if not detecting barrier in scheduled safe range in the human-computer communion control model Traveling controller is intended to the control chassis mobile device according to the walking of the user and moves；If detecting obstacle Object, the traveling controller guide the chassis mobile device to avoid obstacle in the case where the walking for complying with the user is intended to Object is moved；
It is described if not detecting barrier in scheduled safe range in described device autonomous control mode Traveling controller based on the setting Running strategy that is stored in advance in the traveling controller control the chassis mobile device into Row movement；If detecting barrier, described in the traveling controller is guided in the case where complying with the setting Running strategy Chassis mobile device avoiding obstacles are moved.
Preferably, the intelligent walking aid device can also include at least one Force sensor, at least one described power passes Each of induction device include at least one control member and at least one control member direct or indirect connection At least one force snesor, wherein the method also includes：
It is sensed using at least one described force snesor generated when at least one described control member is manipulated by user Pressure value at least one direction simultaneously generates the force data that the user uses walking aid device.
Preferably, the intelligent walking aid device may include the upper support group for being separately positioned on the intelligent walking aid device Two Force sensors of the left and right sides of part, each of Force sensor described in two of them respectively include one Control member and at least two force-sensing sensors with the control member direct or indirect connection, wherein the method also includes：
Each of described at least two force-sensing sensor senses the control member connected to it and is manipulated by user When generated at least one direction on pressure value；
The traveling controller determines the desired rotation of user by the pressure value that two Force sensors sense respectively Turn torque on direction.
Preferably, the intelligent walking aid device may include the upper support group for being separately positioned on the intelligent walking aid device Two Force sensors of the left and right sides of part, one in Force sensor described in two of them includes a manoeuvre portion Part and at least two force-sensing sensors with the control member direct or indirect connection, it is another in two Force sensors A includes another control member and associated torque sensor, which is arranged on another control member It is internal or with another control member direct or indirect connection, wherein the method also includes：
At least two force-sensing sensor sense when control member connected to it is manipulated by user it is generated at least Pressure value on one direction；
The torque sensor senses generated torque when control member connected to it is manipulated by user.
Preferably, the intelligent walking aid device may include the upper support component that the intelligent walking aid device is arranged in One Force sensor, the Force sensor include a control member and the multi-axial forces being connected with control member sensing Device, wherein the method also includes：
The multi-axis force transducer senses at least one generated side when control member connected to it is manipulated by user The value that upwards pressure and/or torque.
Those of ordinary skill in the art can be understood that, for convenience and simplicity of description, above method embodiment party The specific work process of system, device described in case and component, can be with reference to the correspondence technology in aforementioned device embodiment Feature, details are not described herein.Therefore, the scheme that can mention in the device embodiment based on intelligent walking aid device before or Its modification basis is supplemented, illustrated and can be used as to feature to method embodiment.
Another aspect of the invention, additionally provides a kind of intelligent walking aid device, the intelligence walking aid device include memory, Processor and storage on a memory and the computer program that can run on a processor, described in the processor executes It can be realized the function of the traveling controller in method described in any of the above embodiments when computer program.
Another aspect of the present invention, additionally provides a kind of computer storage medium, and the computer storage medium is stored with Computer program, the computer program can be realized the traveling controller in method described in any of the above embodiments when executed Function.
As those skilled in the art are contemplated that after having read the disclosure, in one embodiment, institute Stating traveling controller and/or electric machine controller can be realized by corresponding computer program code, as long as can be realized corresponding Technical effect.
It should be noted that it is the optional embodiment that the application is introduced, this field that the application, which provides embodiment, Technical staff can carry out a variety of modifications and/or variation completely, design more implementations on the basis of disclosure Scheme, these modifications and/or variation may be considered that and also fall within the scope of the present invention.
Those of ordinary skill in the art may be aware that being described in conjunction with embodiment disclosed herein each exemplary Component and/or step can be realized with the combination of electronic hardware, computer software or computer software and electronic hardware. These functions need to realize with hardware or software mode, specific application and design constraint depending on technical solution. Those of ordinary skill in the art can be in conjunction with described function be specifically realized using distinct methods, and this realization is not It is considered as beyond scope of the present application.
In one or more embodiments of above-mentioned offer, it should be understood that disclosed systems, devices and methods can To realize by another way.For example, device embodiment described above is only schematical, for example, unit or The division of component, only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units Or component can be combined or can be integrated into another system, or some features can be ignored or not executed.In addition, showing Show or the mutual connection (connected directly or indirectly) that discusses can be and be attached through some interfaces, device or Being indirectly connected with or communicate to connect of unit can be electricity, mechanical or other forms.
Unit as discrete part description may or may not be physically separated, and show as unit Component may or may not be physical unit, it can it is in one place, or may be distributed over multiple positions It sets.It can select some or all of unit therein according to the actual needs to realize the purpose of the present embodiment.
In addition, each functional unit in each embodiment of the application can integrate in one processing unit, it can also To be that each unit physically exists alone, can also be integrated in one unit with two or more units.
If function is realized in the form of SFU software functional unit and when sold or used as an independent product, can store In a computer readable storage medium.Based on this understanding, the technical solution of the application is substantially in other words to existing Having the part for the part or the technical solution that technology contributes can be embodied in the form of software products, the computer Software product is stored in a storage medium, including some instructions are used so that a computer installation (can be personal meter Calculate device or mobile terminal, server or network equipment etc.) or processor execute the complete of each method embodiment of the application Portion or part steps.Storage medium above-mentioned includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic or disk etc. are various can store journey The medium of sequence code.
Flowchart and or block diagram in attached drawing show the system according to the various embodiments of the disclosure, method with And framework in the cards, function and the operation of computer program product.In this regard, every in flowchart and or block diagram A block can be with representation module, section or code section comprising finger can be performed for realizing the one or more of specified logic function It enables.It shall also be noted that the function of marking in block can not be sent out by the sequence marked in attached drawing in some alternative implementations It is raw.For example, two blocks continuously shown can actually substantially simultaneously execute or these blocks sometimes can be with opposite suitable Sequence executes, this depends on related function.It will also be noted that each of flowchart and or block diagram piece and flow chart and/ Or the combination of the block in block diagram, the hardware based dedicated system or specialized hardware of function or movement can be specified by executing Combination with computer instruction is realized.
The specific embodiment of the application is provided only above, but the protection scope of the application is not limited thereto, it is any Those familiar with the art can easily think of the change or the replacement in technical scope disclosed in the present application, these changes Change or replacement should all be covered within the scope of protection of this application.Therefore, the protection scope of the application should be with the guarantor of claim It protects subject to range.

Claims (10)

1. a kind of intelligence walking aid device, which is characterized in that the intelligence walking aid device includes apparatus main body and traveling controller, In,
Described device main body includes being separately positioned on the upper support component of the upper and lower part of the intelligent walking aid device under Portion's support component, the upper support component include at least one balustrade panel, and the lower support component includes at least one bottom Portion's support frame and the chassis mobile device being connected at least one described bottom support frame, described device main body further include arrangement At least one intermediate support beam between the upper support component and the lower support component；
The traveling controller is arranged in described device main body, and is configured as obtaining user's manipulation intelligent walk help Force data caused by device and the walking intention based on the force data of user analysis user, then according to the intelligence The walk help control model of walking aid device is intended to based on the walking of the user and/or is stored in advance in the traveling controller Setting Running strategy controls the chassis mobile device and is moved.
2. intelligence walking aid device according to claim 1, which is characterized in that the walk help of the intelligence walking aid device controls mould Formula includes human-computer communion control model and device autonomous control mode, and the intelligent walking aid device can be by being arranged in institute State the laser sensor and/or ultrasonic sensor environment-identification obstacle information on apparatus main body, wherein
In the human-computer communion control model, if not detecting barrier in scheduled safe range, the walking Controller is configured as being moved according to the walking of the user intention control chassis mobile device；If detecting barrier Hinder object, the traveling controller guides the chassis mobile device to avoid hindering in the case where the walking for complying with the user is intended to Object is hindered to be moved；
In described device autonomous control mode, if not detecting barrier in scheduled safe range, the walking Controller is configured as controlling the mobile dress in the chassis based on the setting Running strategy being stored in advance in the traveling controller It sets and is moved；If detecting barrier, the traveling controller is guided in the case where complying with the setting Running strategy The chassis mobile device avoiding obstacles are moved.
3. it is according to claim 1 or 2 intelligence walking aid device, which is characterized in that it is described intelligence walking aid device further include to A few Force sensor, each of at least one described Force sensor include at least one control member and with it is described At least one force snesor of at least one control member direct or indirect connection, at least one described control member are arranged on At the upper support component, at least one described force snesor is configured as sensing at least one described control member by user Generated pressure value at least one direction and the force data of the user is generated when manipulation.
4. it is according to claim 3 intelligence walking aid device, which is characterized in that the control member include push rod, screw rod and At least one of control crank.
5. intelligence walking aid device according to claim 4, which is characterized in that the intelligence walking aid device includes being respectively set Two Force sensors in the left and right sides of the upper support component of the intelligent walking aid device, power described in two of them Each of sensing device respectively include a control member and with the control member direct or indirect connection at least two Force-sensing sensor, each of described at least two force-sensing sensor are configured as sensing the control member connected to it Pressure value when being manipulated by user at least one generated direction, the traveling controller be further configured to based on from Two Force sensors either sense to upward pressure respectively is worth the desired torque of determining user.
6. intelligence walking aid device according to claim 4, which is characterized in that the intelligence walking aid device includes being respectively set Two Force sensors in the left and right sides of the upper support component of the intelligent walking aid device, power described in two of them One in sensing device includes a control member and the quick biography of at least two power with the control member direct or indirect connection Sensor, another in two Force sensors includes another control member and associated torque sensor, the torsion Square sensor be arranged on inside another control member or with another control member direct or indirect connection, wherein At least two force-sensing sensor be configured as sensing when control member connected to it is manipulated by user it is generated at least Pressure value on one direction, the torque sensor, which is configured as sensing control member connected to it, is manipulated when institute by user The torque of generation.
7. intelligence walking aid device according to claim 4, which is characterized in that the intelligence walking aid device includes being arranged in institute State a Force sensor of the upper support component of intelligent walking aid device, the Force sensor include a control member and The multi-axis force transducer being connected with the control member, the multi-axis force transducer are configured as sensing manoeuvre portion connected to it Pressure value and/or torque when part is manipulated by user at least one generated direction.
8. a kind of provide the method for walk help for controlling intelligent walking aid device according to claim 1, which is characterized in that institute The method of stating includes：
The traveling controller obtains force data caused by user's manipulation intelligent walking aid device and is based on the user Force data analysis user walking be intended to；
The traveling controller be intended to according to the walk help control model of the intelligent walking aid device based on the walking of the user and/ Or the setting Running strategy being stored in advance in the traveling controller controls the chassis mobile device and is moved.
9. a kind of intelligence walking aid device, which is characterized in that the intelligence walking aid device includes memory, processor and is stored in On memory and the computer program that can run on a processor, the processor can when executing the computer program Realize the function of the traveling controller in the method according to claim 11.
10. a kind of computer storage medium, which is characterized in that the computer storage medium is stored with computer program, described Computer program can be realized the function of the traveling controller in the method according to claim 11 when executed.
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